cmake_minimum_required(VERSION 3.5)
project(full_coverage_path_planner)

# Default to C99
set(CMAKE_C_STANDARD 99)


# Default to C++14
set(CMAKE_CXX_STANDARD 14)

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(std_msgs REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(nav2_util REQUIRED)
find_package(nav2_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(builtin_interfaces REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(nav2_costmap_2d REQUIRED)
find_package(nav2_core REQUIRED)
find_package(pluginlib REQUIRED)

include_directories(
        include
)

set(library_name ${PROJECT_NAME}_plugin)

set(dependencies
        rclcpp
        rclcpp_action
        rclcpp_lifecycle
        std_msgs
        visualization_msgs
        nav2_util
        nav2_msgs
        nav_msgs
        geometry_msgs
        builtin_interfaces
        tf2_ros
        nav2_costmap_2d
        nav2_core
        pluginlib
        )

add_library(${library_name} SHARED
        src/full_coverage_path_planner.cpp
        src/common.cpp
        )

ament_target_dependencies(${library_name}
        ${dependencies}
        )

target_compile_definitions(${library_name} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")


pluginlib_export_plugin_description_file(nav2_core full_coverage_path_planner_plugin.xml)

install(TARGETS ${library_name}
        ARCHIVE DESTINATION lib
        LIBRARY DESTINATION lib
        RUNTIME DESTINATION lib/${PROJECT_NAME}
        )

install(DIRECTORY include/
        DESTINATION include/
        )

install(FILES full_coverage_path_planner_plugin.xml
        DESTINATION share/${PROJECT_NAME}
        )

if (BUILD_TESTING)
    find_package(ament_lint_auto REQUIRED)
    # the following line skips the linter which checks for copyrights
    # uncomment the line when a copyright and license is not present in all source files
    #set(ament_cmake_copyright_FOUND TRUE)
    # the following line skips cpplint (only works in a git repo)
    # uncomment the line when this package is not in a git repo
    #set(ament_cmake_cpplint_FOUND TRUE)
    ament_lint_auto_find_test_dependencies()
endif ()


ament_export_include_directories(include)
ament_export_libraries(${library_name})
ament_export_dependencies(${dependencies})
ament_package()
